CN110316279A - A kind of omnidirectional's differential driving steering wheel - Google Patents
A kind of omnidirectional's differential driving steering wheel Download PDFInfo
- Publication number
- CN110316279A CN110316279A CN201910442130.3A CN201910442130A CN110316279A CN 110316279 A CN110316279 A CN 110316279A CN 201910442130 A CN201910442130 A CN 201910442130A CN 110316279 A CN110316279 A CN 110316279A
- Authority
- CN
- China
- Prior art keywords
- driving
- steering wheel
- differential
- omnidirectional
- steering
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of omnidirectional's differential driving steering wheels, and including fixing seat, driving device and the driving wheel for being distributed in fixing seat two sides, the driving device includes driving motor and differential mechanism, and the driving motor and differential mechanism are drivingly connected；The two output shafts difference axis wheel of the differential mechanism connects the driving wheel.The differential driving steering wheel is provided with the differential mechanism being drivingly connected using driving motor, the two output shafts difference axis wheel of differential mechanism connects driving wheel, when AGV trolley is when turning to, the revolving speed of two driving wheels of differential controls is different, making the driving wheel speed of inside reduces, the driving wheel speed in outside increases, and speed difference when driving wheel is by turning to is correspondingly rotated, and prevents from sliding friction occurs and wears driving wheel with ground.
Description
Technical field
The invention belongs to AGV steering wheel technical fields, and in particular to a kind of omnidirectional's differential driving steering wheel.
Background technique
AGV trolley is that one kind can be travelled along defined guide path, with safeguard protection and various transfer functions
Transport vehicle since it has the characteristics that high degree of automation, safety, flexible, thus is widely used in automobile manufacture, machining
Equal automated productions and warehousing system, it is the Modern Materials Circulations warehousing system such as flexible manufacturing production line and automatic stereowarehouse
One of key equipment.
Many workshops effect that perhaps warehouse is produced or stored with raising come conveying articles using AGV trolley at present
Rate.Due to being limited by place, AGV trolley needs to have the function of Omni-mobile, i.e. pivot stud and towards any direction row
It sails.
Therefore, AGV trolley mostly uses single steering wheel driving device to carry out driving steering, and single steering wheel driving is in being turned to
There are biggish sliding friction, it is easy to wear driving wheel, in order to overcome this disadvantage, AGV trolley mostly uses difference at present
Fast wheel group, multiple steering wheels or Mecanum wheel carry out Omni-mobile.
It is mounted on AGV trolley bottom using multiple steering wheels, is turned to by controlling velocity interpolation different between several steering wheels,
Advantage is to avoid the generation of sliding friction, the disadvantage is that AGV trolley is needed to provide the space for installing multiple steering wheels, makes AGV trolley
Volume becomes larger, and use scope becomes smaller.Omnidirectional moving, but its at high cost, low, use scope of bearing a heavy burden may be implemented in Mecanum wheel
It is restricted.Spider gear group can solve the disadvantage that above two driving device, and there are use scopes to be restricted, with two electricity
Machine forms a train, not will increase the volume of AGV trolley, and load-bearing capacity is high, by the different speed of two wheels come real
The steering of existing train, its advantage is that large carrying capacity, high-efficient, but its disadvantages are that adjustment direction in the process of moving
When, it is difficult to the rotational speed difference of driving wheel is adjusted by being precisely controlled the outer corner difference of two motors, turning track is caused to deviate.
Summary of the invention
The invention aims to solve to use the spider gear group presence of two motor forms to be difficult to adjust driving wheel speed
The technical issues of, a kind of omnidirectional's differential driving steering wheel is provided, differential gear is internally provided with, passes through one motor of independent control
Revolving speed adjust the differences of two driving wheel speeds, realize differential motion of the driving device to driving wheel, reduce driving wheel with
Ground friction.
To solve the above-mentioned problems, the present invention is achieved by following technical scheme:
A kind of omnidirectional's differential driving steering wheel of the present invention, including fixing seat, driving device and it is distributed in fixing seat two sides
Driving wheel,
The driving device includes driving motor and differential mechanism, and the driving motor and differential mechanism are drivingly connected；
The two output shafts difference axis wheel of the differential mechanism connects the driving wheel.
Further, the driving motor and differential mechanism are drivingly connected, specifically, the driving motor passes through gear drive
Connect the input shaft of the differential mechanism.
Further, the differential mechanism is angular wheel differential mechanism, and the axle shaft gear of the tapered gear differential mechanism connects
In the two sides of fixing seat.
It further, further include steering wheel mounting plate and transfer,
The steering wheel mounting plate is connected to the top of fixing seat, is equipped with steering wheel gear on the steering wheel mounting plate；
The transfer include steering motor and turn to bindiny mechanism, the steering motor by turn to bindiny mechanism with
Steering wheel gear is drivingly connected.
Further, the steering bindiny mechanism is by the way of the transmission of gear drive, chain drive or belt.
Further, the steering bindiny mechanism is gear drive.
Further, the steering wheel mounting plate is equipped with angular transducer, and the angular transducer is to detect described turn
To device to the rotation angle of steering wheel gear.
It further, further include anti-suspending apparatus,
The anti-suspending apparatus includes swinging shaft and fixed plate；
The swinging shaft is hinged on the side wall of fixing seat；
The fixed plate offers the through-hole connecting with connecting shaft axis hole, one end connection steering wheel installation of the fixed plate
Plate.
Compared with prior art, the beneficial effects of the present invention are: the differential driving steering wheel is provided with and is driven using driving motor
The two output shafts difference axis wheel of the differential mechanism of dynamic connection, differential mechanism connects driving wheel, when AGV trolley is when turning to, differential mechanism control
The revolving speed for making two driving wheels is different, reduces the driving wheel speed of inside, and the driving wheel speed in outside increases, and driving wheel passes through
Speed difference when steering is correspondingly rotated, and prevents from sliding friction occurs and wears driving wheel with ground.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing, in which:
Fig. 1 is the structural schematic diagram after the fractionation of omnidirectional's differential driving steering wheel of the present invention；
Fig. 2 is the structural schematic diagram at one visual angle of omnidirectional's differential driving steering wheel of the present invention；
Fig. 3 is the structural schematic diagram of driving device of the present invention；
Fig. 4 is the drive mechanism schematic diagram of the present invention in driving device；
Fig. 5 is the structural schematic diagram of the present invention in transfer
Fig. 6 is the structural schematic diagram that the present invention is equipped with anti-suspending apparatus；
In figure: 10- fixing seat；
20- driving device；201- driving motor；2011- first gear；202- differential mechanism；2021- second gear；2022-
Axle shaft gear；2023- planetary gear；
30- driving wheel；
40- steering wheel mounting plate；41- steering wheel gear；
50- transfer；501- steering motor；502- turns to bindiny mechanism；5011- tooth sector；
The anti-suspending apparatus of 60-；601- swinging shaft；602- fixed plate
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted or the quantity for implicitly indicating indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed
Or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment 1
As shown in fig. 1~fig. 5, a kind of omnidirectional's differential driving steering wheel of the present invention includes fixing seat 10, driving device
20, the driving wheel 30, steering wheel mounting plate 40 and transfer 50 of 10 two sides of fixing seat are distributed in.
Wherein, the driving device 20 includes driving motor 201 and differential mechanism 202, the driving motor 201 and differential mechanism
202 are installed in fixing seat 10, and the two output shafts difference axis wheel of the differential mechanism 202 connects the driving wheel 30.Preferably,
The differential mechanism 202 is angular wheel differential mechanism, and the driving motor 201 is preferably the 110 serial two-phase high-torques of meter Si meter
Composite stepper motor, the output shaft of the driving motor 201 are connected with first gear 2011, the tapered gear differential mechanism
Second gear 2021 is provided on 202 input shaft, the first gear 2011 passes through gear drive reality with second gear 2021
The drive connection of existing driving motor 201 and differential mechanism 202 realizes that driving motor 201 provides power to driving wheel 30.
Specifically, the axle shaft gear 2022 of the tapered gear differential mechanism 202 is connected to the two sides of fixing seat 10, and two and half
Shaft gear 2022 is connected and fixed the driving wheel 30 of 10 two sides of seat, the planetary gear of the tapered gear differential mechanism 202 by axis wheel
2023 are engaged on two axle shaft gears 2022, and when steering wheel driven by craspedodrome, two side drive wheels 30 are by identical resistance, planet
The power of 2023 not rotation of gear, the input shaft of tapered gear differential mechanism 202 is transmitted on output shaft, makes two side drive wheels 30
Revolving speed is the same；When steering wheel turns to, the resistance that two side drive wheels 30 are subject to is different, and planetary gear 2023 is where output shaft
Axis rotation and rotation simultaneously, so that resistance difference is absorbed, so that the speed of interior side drive wheel 30 reduces, the speed of outside driven wheel 30
Degree increases, and guarantees that steering wheel turns to successfully, while preventing driving wheel 30 and ground from sliding friction occurs and wears driving wheel 30.
Wherein, the steering wheel mounting plate 40 is connected to the top of fixing seat 10, is equipped with rudder on the steering wheel mounting plate 40
The top of wheel gear 41, the steering wheel gear 41 is fixedly connected with the bottom of AGV trolley, passes through the rotation band of steering wheel gear 41
The steering of dynamic AGV trolley.The transfer 50 includes steering motor 501 and turns to bindiny mechanism 502, as the present embodiment
A kind of preferred embodiment, the steering motor 501 are mounted on the bottom of steering wheel mounting plate 40, and the steering motor 501 passes through steering
Bindiny mechanism 502 and steering wheel gear 41 are drivingly connected.
Further, the output shaft of the steering motor 501 is connected with gear or belt pulley, the steering bindiny mechanism
502 can be gear drive or chain drive or belt transmission, it is preferable that the steering bindiny mechanism 502 is gear drive, described
The output shaft of steering motor 501 is connected with tooth sector 5011,41 engaged transmission of the tooth sector 5011 and steering wheel gear, so that
The steering motor 501 is drivingly connected the steering wheel gear 41.
Further, the steering wheel mounting plate 40 is equipped with angular transducer, it is preferable that connects on the angular transducer
There is sensor gear, the sensor gear is engaged with steering wheel gear 41, and the angular transducer is to detect steering wheel gear 41
Rotation angle calculate the steering angle of AGV trolley.
Omnidirectional's differential driving steering wheel working principle of the present invention is: driving link steering wheel gear band by transfer
Dynamic AGV trolley is turned to, and in steering procedure, driving device controls differential mechanism by gear drive to adjust two side drive wheels
Revolving speed it is inconsistent, to realize that driving wheel is rolling friction in steering procedure, the steering wheel device of the single driving wheel avoided exists
Abrasion in steering because of sliding friction to driving wheel and ground avoids the abrasion of driving wheel and damages.
The other structures of omnidirectional's differential driving steering wheel are referring to the prior art described in the present embodiment.
Embodiment 2
As shown in fig. 6, omnidirectional's differential driving steering wheel of the present embodiment 2 includes fixing seat 10, driving device 20, distribution
Driving wheel 30, steering wheel mounting plate 40 and transfer 50 in 10 two sides of fixing seat is same as Example 1, and difference exists
In omnidirectional's differential driving steering wheel further includes anti-suspending apparatus 60.
The anti-suspending apparatus 60 includes swinging shaft 601 and fixed plate 602.The curved surface use of the swinging shaft 601 can turn
Dynamic screw connection realizes the hinged of swinging shaft 601 and fixed plate 602 on the side wall of fixed plate 602.
The fixed plate 602 is two, and each 602 one end of fixed plate is connected to the side wall of steering wheel mounting plate 40, described
Through-hole is offered in fixed plate 602, the both ends progress axis hole connection of the through-hole and connecting shaft is fixed.When a side drive wheel
30 when uneven road surface occurs hanging, and the side for connecting the steering wheel mounting plate 40 of the driving wheel 30 is inclined due to gravity
Tiltedly, and then the fixed plate being connected on steering wheel mounting plate 40 602 is made to drive hinged swinging shaft 602 oblique to the inclination, made hanging
Driving wheel 30 voluntarily land after, the problem of adapting to ground automatically, prevent driving wheel 30 from causing track to be deviateed due to hanging.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
Without departing from the technical solutions of the present invention, according to the technical essence of the invention it is to the above embodiments it is any modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (8)
1. a kind of omnidirectional's differential driving steering wheel, it is characterised in that: including fixing seat, driving device and be distributed in fixing seat two sides
Driving wheel,
The driving device includes driving motor and differential mechanism, and the driving motor and differential mechanism are drivingly connected；
The two output shafts difference axis wheel of the differential mechanism connects the driving wheel.
2. omnidirectional's differential driving steering wheel according to claim 1, it is characterised in that:
The driving motor and differential mechanism are drivingly connected, specifically, the driving motor connects the differential by gear drive
The input shaft of device.
3. omnidirectional's differential driving steering wheel according to claim 1, it is characterised in that:
The differential mechanism is angular wheel differential mechanism, and the axle shaft gear of the tapered gear differential mechanism is connected to the two of fixing seat
Side.
4. omnidirectional's differential driving steering wheel according to claims 1 to 3, it is characterised in that: further include steering wheel mounting plate and turn
To device,
The steering wheel mounting plate is connected to the top of fixing seat, is equipped with steering wheel gear on the steering wheel mounting plate；
The transfer includes steering motor and turns to bindiny mechanism, and the steering motor is by turning to bindiny mechanism and steering wheel
Gear is drivingly connected.
5. omnidirectional's differential driving steering wheel according to claim 4, it is characterised in that:
The steering bindiny mechanism is by the way of the transmission of gear drive, chain drive or belt.
6. omnidirectional's differential driving steering wheel according to claim 5, it is characterised in that:
The steering bindiny mechanism is gear drive.
7. omnidirectional's differential driving steering wheel according to claim 6, it is characterised in that:
The steering wheel mounting plate is equipped with angular transducer, and the angular transducer is to detect the transfer to steering wheel tooth
The rotation angle of wheel.
8. omnidirectional's differential driving steering wheel according to claim 1, it is characterised in that: it further include anti-suspending apparatus,
The anti-suspending apparatus includes swinging shaft and fixed plate；
The swinging shaft is hinged on the side wall of fixing seat；
The fixed plate offers the through-hole connecting with connecting shaft axis hole, and one end of the fixed plate connects steering wheel mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910442130.3A CN110316279A (en) | 2019-05-24 | 2019-05-24 | A kind of omnidirectional's differential driving steering wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910442130.3A CN110316279A (en) | 2019-05-24 | 2019-05-24 | A kind of omnidirectional's differential driving steering wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110316279A true CN110316279A (en) | 2019-10-11 |
Family
ID=68119089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910442130.3A Pending CN110316279A (en) | 2019-05-24 | 2019-05-24 | A kind of omnidirectional's differential driving steering wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110316279A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110604913A (en) * | 2019-10-15 | 2019-12-24 | 长安大学 | Boxing and body-building auxiliary robot |
| CN111071680A (en) * | 2019-12-27 | 2020-04-28 | 席宏榕 | Article conveyer is used in commodity circulation transportation |
| CN111152837A (en) * | 2020-03-18 | 2020-05-15 | 江苏广娟机电设备有限公司 | Double-wheel steering driving wheel |
| CN112606897A (en) * | 2020-11-12 | 2021-04-06 | 王友猛 | Omnidirectional movement automatic guide AGV dolly |
| EP4063163A1 (en) | 2021-03-24 | 2022-09-28 | Jnov Tech | Electrically motorised wheel for a mobile platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110604913A (en) * | 2019-10-15 | 2019-12-24 | 长安大学 | Boxing and body-building auxiliary robot |
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| CN111071680A (en) * | 2019-12-27 | 2020-04-28 | 席宏榕 | Article conveyer is used in commodity circulation transportation |
| CN111152837A (en) * | 2020-03-18 | 2020-05-15 | 江苏广娟机电设备有限公司 | Double-wheel steering driving wheel |
| CN112606897A (en) * | 2020-11-12 | 2021-04-06 | 王友猛 | Omnidirectional movement automatic guide AGV dolly |
| EP4063163A1 (en) | 2021-03-24 | 2022-09-28 | Jnov Tech | Electrically motorised wheel for a mobile platform |
| FR3121120A1 (en) | 2021-03-24 | 2022-09-30 | Jnov Tech | Electrically motorized wheel for mobile platform |
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